Multi-channel control electric capstan system and temperature prediction method thereof

Abstract

The problem that motor faults are difficult to check at the first time due to the fact that the motor temperature is difficult to predict in an existing winch system is solved. According to the multi-channel control electric capstan system and the temperature prediction method thereof, the motor temperature is collected through the arranged temperature module, and the motor temperature after the set time length is predicted in the remote control module based on the preset RC model, so that the overheat protection action of the motor is triggered in advance, and the temperature prediction accuracy of the motor is improved. And the risk of overheating damage caused by sudden overload or other factors of the motor is obviously reduced.

Description

Technical Field

[0001] The invention relates to the technical field of electric winch control, and in particular to a multi-channel control electric winch system and a temperature prediction method thereof. Background Art

[0002] An electric winch is a traction device that is driven by a motor and cooperates with a gear reduction mechanism to drag or lift objects. It is often used in fields such as vehicle rescue or cargo handling in factory warehouses. Among them, since the objects towed by the electric winch are usually heavy, it is not convenient for people to approach for safety reasons. Therefore, remote control is usually used to control the action of the winch, such as the content disclosed in the patent with the authorization publication number CN107742409B. On the other hand, when the motor driving the winch is overheated, it is easy to burn the motor, resulting in towing failure and danger, so it is necessary to monitor the temperature of the motor. However, the existing methods usually only monitor the current temperature of the motor, and it is difficult to respond to the abnormal situation of the motor in time. Since the motor has been running in an abnormal state for a certain period of time, it may cause irreversible damage, resulting in equipment loss. Therefore, there is a need for a multi-channel control electric winch system and a temperature prediction method that can respond to abnormal motor operating temperature in time. Summary of the invention

[0003] The object of the present invention is to solve the deficiencies of the prior art and to provide a multi-channel controlled electric winch system and a temperature prediction method thereof.

[0004] In order to solve the above problems, the present invention adopts the following technical solutions: A multi-channel controlled electric winch system comprises a power module, a winch and a winch control module, wherein the power module is transmission-connected to the winch for controlling the rotation of the winch; the winch control module is electrically connected to the power module; further comprising a braking module, a first remote control module, a second remote control module, a temperature module and a remote server; the braking module is transmission-connected to the rotating shaft of the winch for controlling the stop of the winch; the first remote control module and the winch control module are communicated via high-frequency wireless signals, and the second remote control module and the winch control module are communicated via Bluetooth; the temperature module is arranged at a set position on the motor for monitoring the temperature of the motor, and the temperature module is also communication-connected to the winch control module; the remote server is connected to the winch control module, the first remote control module and / or the second remote control module via a wireless network.

[0005] A temperature prediction method for a multi-channel controlled electric winch system comprises the following steps: Step 1: The winch control module receives a control signal sent by the first remote control module or the second remote control module; Step 2: The winch control module decodes the received control signal, obtains the action instruction, and controls the power module to drive the winch to move according to the action instruction; Step 3: The temperature module collects the operating temperature of the power module according to the set sampling period Δt, and transmits the collected temperature signal to the winch control module; Step 4: The winch control module transmits the received temperature signal D to the first remote control module or the second remote control module via the wireless transmission protocol and the Bluetooth protocol; Step 5: The first remote control module or the second remote control module predicts the temperature W of the power module after the interval T based on the RC model, and compares the predicted temperature W with the preset value; if the predicted temperature W exceeds the preset value, a high temperature alarm is triggered and the step ends; otherwise, the next step is entered; Step 6: The first remote control module or the second remote control module compares the temperature signal D collected at this moment with the predicted temperature W' corresponding to the moment; if the collected temperature signal D exceeds the predicted temperature W' to reach the set value and lasts for a period of time Δt', the fault diagnosis is triggered and the step ends; otherwise, the power unit continues to operate until the control signal is completed and the step ends.

[0006] Furthermore, the control signal in step 2 includes a dual-band signal sent by the first remote control module and a Bluetooth signal based on BLE5.0 sent by the second remote control module.

[0007] Furthermore, the dual-band signal is a 2.4 GHz+433 MHz / 315 MHz frequency band.

[0008] Furthermore, after the alarm is triggered in step 5, it will switch to emergency braking mode. In this mode, the power module will be controlled to stop, and the brake module will brake the winch, and the external fan used for heat dissipation will be controlled to run at maximum power to control the power module to cool down quickly.

[0009] Furthermore, the RC model in step 5 includes the following formula: First, the heating rate of the motor in the power module needs to be determined: ,

[0010] in, Represents the equivalent heat capacity of the motor in the power module; Represents the equivalent thermal resistance of the motor; Indicates the temperature rise, that is, the difference between the motor temperature and the ambient temperature, expressed as ; Indicates the winding current of the motor; Indicates the winding resistance of the motor; Then, the predicted motor temperature at time k is obtained by performing differential processing on the temperature rise. , expressed as: , in, Indicates the sampling period of the temperature module; Indicates the predicted temperature at the previous moment; Indicates the motor winding current at the previous moment.

[0011] Furthermore, the equivalent thermal resistance of the motor Obtained by the following formula: First, in the initial state, the temperature of the motor is consistent with the ambient temperature, so it is considered that in the initial state ; From this we can get, , in, Indicates the rate of temperature change of the motor when it is working under stable load.

[0012] Furthermore, the equivalent heat capacity of the motor Obtained by the following formula: First calculate the time constant of the temperature rise curve : , in, It indicates the time required for the motor to reach 63.2% of the stable temperature when under rated load; Then calculate the heat capacity , expressed as: , in, Represents the equivalent thermal resistance of the motor.

[0013] Furthermore, the fault diagnosis in step 6 includes the following steps: Step 61: The winch control module enters the self-check process and records; Step 62: Check the motor operation; if the difference between the motor winding current and the current output by the winch control module within the previous set time exceeds the set value, it is considered that the motor is operating abnormally, and the brake module is controlled to stop the winch, and the step ends; otherwise, proceed to the next step; Step 63: Check the load; if the current change rate of the motor winding in the previous period exceeds the limit range, it is considered that the load has a sudden change, the RC model is corrected, and the step ends; otherwise, go to the next step; Step 64: Check the signal transmission error rate; if the transmission error rate is higher than the threshold, the connection is considered unstable, a warning is issued, and the step ends; otherwise, proceed to the next step; Step 65: Check the signal transmission delay; if the sending delay or the receiving delay exceeds the threshold, it is considered that the connection between the first remote control module or the second remote control module and the winch control module is unstable, a warning is issued, and the step ends; otherwise, proceed to the next step; Step 66: Check the operating environment temperature; if the ambient temperature exceeds the set value range, it is considered that the working environment is abnormal and the step ends; otherwise, proceed to the next step; Step 67: Check the operating parameters of the temperature sensor; if the power supply voltage and output impedance of each temperature sensor are abnormal, it is considered that the corresponding main temperature sensor is faulty, and the standby sensor is switched to end the step; otherwise, proceed to the next step; Step 68: Check the temperature sensor detection performance; if the comparison difference between the main temperature sensor and the backup sensor exceeds the set value, it is considered that the main temperature sensor at the corresponding position is faulty, the faulty main temperature sensor area is marked, and the backup sensor is switched to end the step; otherwise, proceed to the next step; Step 69: Compare with historical data, find the curve data that is most similar to the collected temperature signal D change curve, check the fault situation analyzed by the data, display the comparison conclusion, and end the step.

[0014] Furthermore, in step 69, the most similar curve data is found by a dynamic time normalization method.

[0015] The beneficial effects of the present invention are: By predicting the motor's operating temperature, the motor's overheat protection action can be triggered in advance, significantly reducing the risk of the motor being damaged by overheating due to sudden overload or other factors; Through the fault diagnosis process, the abnormal links in the self-check temperature detection are improved to improve the safety fault tolerance mechanism of the system, which is convenient for users to quickly find abnormal points and shorten the time required for the equipment to resume normal operation. By comparing with historical data, when the fault cannot be effectively analyzed, the possible cause of the fault is given, providing a reference for operators to facilitate verification and troubleshooting. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a structural block diagram of the electric winch system of an embodiment; Figure 2 A schematic diagram of a temperature prediction method flow chart of an embodiment; Figure 3 Schematic diagram of the self-check process of fault diagnosis in the embodiment. DETAILED DESCRIPTION

[0017] The following describes the embodiments of the present invention by specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the following embodiments and features in the embodiments can be combined with each other without conflict.

[0018] It should be noted that the illustrations provided in the following embodiments are only used to schematically illustrate the basic concept of the present invention. The figures only show components related to the present invention rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0019] like Figure 1 As shown, a multi-channel controlled electric winch system includes a power module, a winch and a winch control module, wherein the power module is connected to the winch in a transmission manner to control the rotation of the winch; the winch control module is electrically connected to the power module; it also includes a brake module, a first remote control module, a second remote control module, a temperature module and a remote server; the brake module is connected to the rotating shaft of the winch in a transmission manner to control the stop of the winch; the first remote control module and the winch control module are connected in communication via a high-frequency wireless signal, and the second remote control module and the winch control module are connected in communication via Bluetooth; the temperature module is set at a set position on the motor to monitor the temperature of the motor, and the temperature module is also connected in communication with the winch control module; the remote server is connected to the winch control module, the first remote control module and / or the second remote control module via a wireless network. It should be noted that the first remote control module and the second remote control module can be centrally arranged on a mobile device, or divided into two mobile devices.

[0020] The first remote control module adopts dual-band redundant transmission; the first frequency band is the 2.4GHz transmission frequency band, which has the characteristics of high frequency and short wavelength, has a relatively large transmission distance, fast transmission speed, and low delay response; the second frequency band is the 433MHz / 315MHz frequency band, which has the characteristics of higher frequency and longer short wave, and has a larger transmission distance and stronger anti-interference and penetration capabilities. Through dual-band transmission, when the interference of a single frequency band is strong, the signal can still be transmitted more accurately and quickly, and the signals transmitted by the two frequency bands can also be used to compare and verify the connection status of the connected communication channel, and promptly discover the connection abnormality of the connected communication channel. In this example, the first remote control module adopts the existing wireless transceiver module NRF2401L and syn480 or syn680 integrated chip, and combines the signal power amplifier and the low noise amplifier to realize the function of dual-band transmission; wherein the wireless transceiver module NRF2401L is used to send and receive signals in the 2.4GHz frequency band, and the syn480 or syn680 integrated chip is used to send and receive signals in the 433MHz / 315MHz frequency band; the signal power amplifier is used to enhance the transmission power of the signal at the transmitting end, improve the communication distance and quality; the low noise amplifier is used to filter the signal at the receiving end and amplify the received signal. It should be noted that the above-mentioned wireless transceiver module NRF2401L and syn480 or syn680 integrated chip, combined with the signal power amplifier and the low noise amplifier, are also arranged in the winch control module to realize two-way communication. A separate WIFI module is also provided in the first remote control module for networking.

[0021] The second remote control module adopts a handheld device with an ESP32 dual-mode Bluetooth chip based on the Bluetooth 5.0 technical standard. The ESP32 dual-mode Bluetooth chip is also arranged in the winch control module. The chip also integrates a 2.4GHz Wi-Fi function, so that the corresponding device can be connected to the remote server online.

[0022] The power module is in the form of a motor combined with a reducer; it should be noted that, in order to protect the motor, a fan for heat dissipation is also provided in the power module to help the motor dissipate heat quickly and reduce the risk of motor burning out.

[0023] The brake module adopts a brake device for ultra-quiet and fast brake winch, including a brake shaft, a brake pad sleeved on the brake shaft, and a first brake cone drum with an inner hole; the first brake cone drum and the brake pad are provided with a friction brake matching surface with a conical surface, the outer circular wall of the brake shaft is provided with an outer spiral groove, and the inner hole wall of the first brake cone drum is connected with a steel ball that rolls with the outer spiral groove. Automatic braking is performed by rolling with the steel ball and the spiral groove, with short self-locking reaction time, low braking noise, reliable braking performance and high safety.

[0024] The temperature module adopts the form of thermistor PT100 combined with converter MAX31865 to realize the conversion of thermistor into digital signal. It should be noted that in this example, each temperature measuring part of the motor in the power module is respectively provided with two thermistors, one of which is used as the main temperature sensor and the other as a backup sensor. The two sensors can be used to compare sensor failures. Two thermistors are respectively installed at the carbon brush part of the motor.

[0025] The remote server is used to receive motor operating parameters uploaded by the first remote control module, the second remote control module and the winch control module, and a temperature prediction model based on deep learning is set in the remote server to verify the motor operating parameters and help the first remote control module and the second remote control module to judge the motor operating conditions on site.

[0026] like Figure 2 and Figure 3 As shown, a temperature prediction method for a multi-channel controlled electric winch system comprises the following steps Step 1: The winch control module receives a control signal sent by the first remote control module or the second remote control module; Step 2: The winch control module decodes the received control signal, obtains the action instruction, and controls the power module to drive the winch to move according to the action instruction; Step 3: The temperature module collects the operating temperature of the power module according to the set sampling period Δt, and transmits the collected temperature signal to the winch control module; in this example, the sampling period Δt is 10ms~100ms; Step 4: The winch control module transmits the received temperature signal D to the first remote control module or the second remote control module via the wireless transmission protocol and the Bluetooth protocol; Step 5: The first remote control module or the second remote control module predicts the power module temperature W after the interval time T based on the RC model, and compares the predicted temperature W with the preset value; if the predicted temperature W exceeds the preset value, a high temperature alarm is triggered and the step ends; otherwise, the next step is entered; it should be noted that in this example, the interval time T is 10S, which can detect the abnormal high temperature of the motor in time before it occurs, and trigger the high temperature alarm, thereby reducing the running time of the motor in an abnormal state; Step 6: The first remote control module or the second remote control module compares the temperature signal D collected at this moment with the predicted temperature W' corresponding to the moment; if the collected temperature signal D exceeds the predicted temperature W' to reach the set value and lasts for a period of time Δt', the fault diagnosis is triggered and the step ends; otherwise, the power unit continues to operate until the control signal action is completed and the step ends; in this example, Δt' is 10S, that is, if the actual temperature exceeds the predicted temperature by 15°C for 10S, the fault diagnosis is triggered.

[0027] The control signal in step 2 includes a dual-band signal emitted by the first remote control module and a Bluetooth signal based on BLE5.0 emitted by the second remote control module; the dual-band signal is a 2.4GHz+433MHz / 315MHz frequency band.

[0028] In step 4, the temperature signal D is transmitted to the first remote control module or the second remote control module for processing. On the one hand, it is convenient to display it through the display screen set on the first remote control module or the second remote control module, and on the other hand, it is also convenient to upload the data to the remote server through the remote control module.

[0029] After the alarm is triggered in step 5, it will also switch to emergency braking mode. In this mode, the power module will be controlled to stop, and the brake module will brake the winch, and the external fan used for heat dissipation will be controlled to run at maximum power to control the power module to cool down quickly.

[0030] The RC model in step 5 includes the following formula: First, since the temperature rise of the motor is determined by the Joule heat and the speed of heat dissipation, the temperature rise rate of the motor in the power module can be determined as: , in, Represents the equivalent heat capacity of the motor in the power module; Represents the equivalent thermal resistance of the motor; Indicates the temperature rise, that is, the difference between the motor temperature and the ambient temperature, expressed as ,in Indicates the temperature of the motor, Indicates the temperature of the environment; Indicates the winding current of the motor; Indicates the winding resistance of the motor. It should be noted that due to the influence of motor aging, the motor winding resistance It is not static, so it needs to be tested and updated regularly; Then, the predicted motor temperature at time k is obtained by performing differential processing on the temperature rise. , expressed as: , in, Indicates the sampling period of the temperature module; Indicates the predicted temperature at the previous moment; Indicates the motor winding current at the previous moment.

[0031] The equivalent thermal resistance of the motor Obtained by the following formula: First, in the initial state, the temperature of the motor is consistent with the ambient temperature, so it is considered that in the initial state ; From this we can get, , in, Indicates the rate of temperature change of the motor when it is working under stable load.

[0032] The equivalent heat capacity of the motor Obtained by the following formula: First calculate the time constant of the temperature rise curve : , in, It indicates the time required for the motor to reach 63.2% of the stable temperature when under rated load; Then calculate the heat capacity , expressed as: , in, Represents the equivalent thermal resistance of the motor.

[0033] It should be noted that the motor predicted temperature It will also be corrected through the Kalman filter fusion algorithm to obtain the final output predicted temperature : , in, represents the temperature collected by the sensor at time k; Indicates the predicted temperature of the motor; Represents the adaptive weight, the initial value of which is 0. The weight will change with the output predicted temperature The sensor collects the temperature after 10S The difference is corrected and changed; because the motor temperature after 10 seconds is predicted in this example, the output predicted temperature is compared with the sensor collected temperature at the corresponding moment.

[0034] The fault diagnosis in step 6 includes the following steps: Step 61: The winch control module enters the self-check process and records; Step 62: Check the motor operation; obtain the motor winding current and the current output by the winch control module within the previous set time, and compare them; if the difference between the two exceeds the set value, it is considered that the motor is operating abnormally, and the brake module is controlled to stop the winch, and the step ends; otherwise, proceed to the next step; Step 63: Check the load; compare the current of the motor winding in the previous period; if the rate of change of the current exceeds the limit range, it is considered that the load has a sudden change, and the RC model is corrected, and the step ends; otherwise, go to the next step; Step 64: Check the signal transmission error rate; the first remote control module or the second remote control module sends a sub-packaged signal test instruction to the winch control module, and the winch control module receives the sub-packaged signal test instruction combination and re-packages it and sends it back to the first remote control module or the second remote control module; the first remote control module or the second remote control module receives the returned signal test instruction and compares it with the issued instruction to obtain the transmission error rate; if the transmission error rate is higher than the threshold, it is considered that the connection is unstable, a warning is issued, and the step ends; otherwise, it goes to the next step; Step 65: Check the signal transmission delay; the first remote control module or the second remote control module sends a signal test instruction with a timestamp to the winch control module; after receiving the signal test instruction, the winch control module timestamps the received signal and immediately transmits it back; the first remote control module or the second remote control module receives the returned signal test instruction and obtains the sending delay and the receiving delay; if the sending delay or the receiving delay exceeds the threshold, it is considered that the connection between the first remote control module or the second remote control module and the winch control module is unstable, a warning is issued, and the step ends; otherwise, proceed to the next step; Step 66: Check the operating environment temperature; obtain the ambient temperature collected by the temperature sensor; if the ambient temperature exceeds the set value range, it is considered that the working environment is abnormal and the step ends; otherwise, proceed to the next step; Step 67: Check the operating parameters of the temperature sensor; detect the supply voltage and output impedance of each temperature sensor and compare them with the preset value; if there is an abnormality, it is considered that the corresponding main temperature sensor is faulty, switch to the backup sensor, and end the step; otherwise, proceed to the next step; Step 68: Check the detection performance of the temperature sensor; start the main temperature sensor and the backup sensor in the temperature module, obtain the temperature signal D collected by each temperature sensor, and compare the temperature signals collected by the main temperature sensor and the backup sensor at the same location; if the comparison difference exceeds the set value, it is considered that the main temperature sensor at the corresponding location is faulty, mark the faulty main temperature sensor area, switch to the backup sensor, and end the step; otherwise, proceed to the next step; Step 69: Compare with historical data, find the historical curve data that is most similar to the collected temperature signal D change curve, check the fault situation analyzed by the data, display the comparison conclusion, and end the step.

[0035] In step 69, the most similar curve data is found by dynamic time normalization method, which specifically includes the following steps: Step 691: Data preprocessing: a) Align the beginning and end of the curve data; ensure that the time lengths of the two curve information are consistent to avoid scale differences; b) Data normalization: Normalize the temperature values ​​based on the Min-Max normalization method to eliminate the dimensional differences under different working conditions; c) Noise reduction: Use the moving average filtering algorithm to smooth the noise of the curve data and retain the curve trend; Step 692: Construct a distance matrix between the change curve of the collected temperature signal D and the historical curve data : , in, Indicates the temperature value of the variation curve of the collected temperature signal D at time i; Represents the value of the historical curve data at time j corresponding to i; Step 693: Calculate the cumulative distance matrix , the recursive formula is expressed as: , Step 694: From the end point Backtrack to the starting point , find the minimum cumulative distance matrix , it is considered that the corresponding historical data curve is most similar to the change curve of the collected temperature signal D.

[0036] During the implementation process, by predicting the operating temperature of the motor, the overheat protection action of the motor can be triggered in advance, significantly reducing the risk of overheating and damage to the motor due to sudden overload or other factors; through the fault diagnosis process, the abnormal links in the self-check temperature detection are improved to improve the system's safety fault tolerance mechanism, allowing users to quickly find abnormal points and shorten the time required for the equipment to resume normal operation; by comparing with historical data, when the fault cannot be effectively analyzed, the possible cause of the fault can be given, providing a reference for the operator and facilitating verification and troubleshooting.

[0037] The above description is only a specific example of the present invention and does not constitute any limitation to the present invention. It is obvious that for professionals in this field, after understanding the content and principle of the present invention, various modifications and changes in form and details may be made without departing from the principle and structure of the present invention, but these modifications and changes based on the idea of ​​the present invention are still within the scope of protection of the claims of the present invention.

Claims

1. A multi-channel controlled electric winch system, comprising a power module, a winch and a winch control module, wherein the power module is connected to the winch in a transmission manner to control the rotation of the winch; the winch control module is electrically connected to the power module; characterized in that, It also includes a braking module, a first remote control module, a second remote control module, a temperature module and a remote server; the braking module is connected to the winch's rotating shaft for controlling the winch to stop; the first remote control module and the winch control module are communicated via high-frequency wireless signals, and the second remote control module and the winch control module are communicated via Bluetooth; the temperature module is arranged at a set position on the motor for monitoring the temperature of the motor, and the temperature module is also communicated with the winch control module; the remote server is connected to the winch control module, the first remote control module and / or the second remote control module via a wireless network.

2. A temperature prediction method for a multi-channel controlled electric winch system, characterized in that: The steps include: Step 1: The winch control module receives a control signal sent by the first remote control module or the second remote control module; Step 2: The winch control module decodes the received control signal, obtains the action instruction, and controls the power module to drive the winch to move according to the action instruction; Step 3: The temperature module collects the operating temperature of the power module according to the set sampling period Δt, and transmits the collected temperature signal to the winch control module; Step 4: The winch control module transmits the received temperature signal D to the first remote control module or the second remote control module via the wireless transmission protocol and the Bluetooth protocol; Step 5: The first remote control module or the second remote control module predicts the temperature W of the power module after the interval T based on the RC model, and compares the predicted temperature W with the preset value; if the predicted temperature W exceeds the preset value, a high temperature alarm is triggered and the step ends; otherwise, the next step is entered; Step 6: The first remote control module or the second remote control module compares the temperature signal D collected at this moment with the predicted temperature W' corresponding to the moment; if the collected temperature signal D exceeds the predicted temperature W' to reach the set value and lasts for a period of time Δt', the fault diagnosis is triggered and the step ends; otherwise, the power unit continues to operate until the control signal is completed and the step ends.

3. The temperature prediction method of a multi-channel controlled electric winch system according to claim 2, characterized in that: The control signal in step 2 includes a dual-band signal sent by the first remote control module and a Bluetooth signal based on BLE5.0 sent by the second remote control module.

4. The temperature prediction method of a multi-channel controlled electric winch system according to claim 3, characterized in that: The dual-band signal is 2.4GHz+433MHz / 315MHz frequency band.

5. The temperature prediction method of a multi-channel controlled electric winch system according to claim 2, characterized in that: After the alarm is triggered in step 5, it will also switch to emergency braking mode. In this mode, the power module will be controlled to stop, and the brake module will brake the winch, and the external fan used for heat dissipation will be controlled to run at maximum power to control the power module to cool down quickly.

6. The temperature prediction method of a multi-channel controlled electric winch system according to claim 2, characterized in that: The RC model in step 5 includes the following formula: First, the heating rate of the motor in the power module needs to be determined: ； in, Represents the equivalent heat capacity of the motor in the power module; Represents the equivalent thermal resistance of the motor; Δ Indicates the temperature rise, that is, the difference between the motor temperature and the ambient temperature, expressed as ; Indicates the winding current of the motor; Indicates the winding resistance of the motor; Then, the predicted motor temperature Δ at time k is obtained by performing differential processing on the temperature rise. , expressed as: ； Wherein, Δt represents the sampling period of the temperature module; Δ Indicates the predicted temperature at the previous moment; Indicates the motor winding current at the previous moment.

7. The temperature prediction method of a multi-channel controlled electric winch system according to claim 6, characterized in that: The equivalent thermal resistance of the motor Obtained by the following formula: First, in the initial state, the temperature of the motor is consistent with the ambient temperature, so it is considered that in the initial state ; From this we can get, ； in, Indicates the rate of temperature change of the motor when it is working under stable load.

8. The temperature prediction method of a multi-channel controlled electric winch system according to claim 7, characterized in that: The equivalent heat capacity of the motor Obtained by the following formula: First calculate the time constant of the temperature rise curve : ； in, It indicates the time required for the motor to reach 63.2% of the stable temperature when under rated load; Then calculate the heat capacity , expressed as: ； in, Represents the equivalent thermal resistance of the motor.

9. The temperature prediction method of a multi-channel controlled electric winch system according to claim 2, characterized in that: The fault diagnosis in step 6 includes the following steps: Step 61: The winch control module enters the self-check process and records; Step 62: Check the motor operation; if the difference between the motor winding current and the current output by the winch control module within the previous set time exceeds the set value, it is considered that the motor is operating abnormally, and the brake module is controlled to stop the winch, and the step ends; otherwise, proceed to the next step; Step 63: Check the load; if the current change rate of the motor winding in the previous period exceeds the limit range, it is considered that the load has a sudden change, the RC model is corrected, and the step ends; otherwise, go to the next step; Step 64: Check the signal transmission error rate; if the transmission error rate is higher than the threshold, the connection is considered unstable, a warning is issued, and the step ends; otherwise, proceed to the next step; Step 65: Check the signal transmission delay; if the sending delay or the receiving delay exceeds the threshold, it is considered that the connection between the first remote control module or the second remote control module and the winch control module is unstable, a warning is issued, and the step ends; otherwise, proceed to the next step; Step 66: Check the operating environment temperature; if the ambient temperature exceeds the set value range, it is considered that the working environment is abnormal and the step ends; otherwise, proceed to the next step; Step 67: Check the operating parameters of the temperature sensor; if the power supply voltage and output impedance of each temperature sensor are abnormal, it is considered that the corresponding main temperature sensor is faulty, and the standby sensor is switched to end the step; otherwise, proceed to the next step; Step 68: Check the temperature sensor detection performance; if the comparison difference between the main temperature sensor and the backup sensor exceeds the set value, it is considered that the main temperature sensor at the corresponding position is faulty, the faulty main temperature sensor area is marked, and the backup sensor is switched to end the step; otherwise, proceed to the next step; Step 69: Compare with historical data, find the curve data that is most similar to the collected temperature signal D change curve, check the fault situation analyzed by the data, display the comparison conclusion, and end the step.

10. The temperature prediction method of a multi-channel controlled electric winch system according to claim 9, characterized in that: In step 69, the most similar curve data is found by a dynamic time normalization method.

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